function HList = Calculate_HList(map,obstacle)
HList=zeros(map.X,map.Y);
for length=1:map.X
    for width = 1:map.Y
        HList(length,width)=h([length,width],map.goal);
%         HList(length,width)=HList(length,width)+h2([length,width],obstacle);
    end
end

end

function hcost = h( m,goal )

%计算启发函数代价值 ，这里采用曼哈顿算法
hcost =10* abs(  m(1)-goal(1)  )+10*abs(  m(2)-goal(2)  );

end